version: 66.08
glider: 166
mission: 3
dive: 167
start: 10 6 110 3 58 36
data:
$ID,166
$MISSION,3
$DIVE,167
$N_DIVES,175
$D_SURF,3
$D_FLARE,5
$D_TGT,500
$D_ABORT,600
$D_NO_BLEED,50
$D_BOOST,3
$T_BOOST,0
$D_FINISH,0
$D_PITCH,0
$D_SAFE,0
$D_CALL,0
$SURFACE_URGENCY,0
$SURFACE_URGENCY_TRY,0
$SURFACE_URGENCY_FORCE,0
$T_DIVE,120
$T_MISSION,150
$T_ABORT,1440
$T_TURN,225
$T_TURN_SAMPINT,5
$T_NO_W,120
$T_LOITER,0
$USE_BATHY,-5
$USE_ICE,0
$ICE_FREEZE_MARGIN,0.30000001
$D_OFFGRID,1000
$T_WATCHDOG,10
$RELAUNCH,1
$APOGEE_PITCH,-5
$MAX_BUOY,220
$COURSE_BIAS,0
$GLIDE_SLOPE,30
$SPEED_FACTOR,1
$RHO,1.0275
$MASS,51913
$NAV_MODE,2
$FERRY_MAX,45
$KALMAN_USE,2
$HD_A,0.0038360001
$HD_B,0.010078
$HD_C,9.8500004e-06
$HEADING,-1
$ESCAPE_HEADING,0
$ESCAPE_HEADING_DELTA,10
$FIX_MISSING_TIMEOUT,0
$TGT_DEFAULT_LAT,4736
$TGT_DEFAULT_LON,-12218
$TGT_AUTO_DEFAULT,0
$SM_CC,400
$N_FILEKB,4
$FILEMGR,0
$CALL_NDIVES,1
$COMM_SEQ,0
$PROTOCOL,9
$N_NOCOMM,1
$N_NOSURFACE,0
$UPLOAD_DIVES_MAX,-1
$CALL_TRIES,5
$CALL_WAIT,60
$CAPUPLOAD,0
$CAPMAXSIZE,100000
$HEAPDBG,0
$T_GPS,15
$N_GPS,20
$T_GPS_ALMANAC,0
$T_GPS_CHARGE,-21700.35
$T_RSLEEP,3
$STROBE,0
$RAFOS_PEAK_OFFSET,1.5
$RAFOS_CORR_THRESH,60
$RAFOS_HIT_WINDOW,3600
$PITCH_MIN,160
$PITCH_MAX,3938
$C_PITCH,2840
$PITCH_DBAND,0.1
$PITCH_CNV,0.003125763
$P_OVSHOOT,0.039999999
$PITCH_GAIN,22
$PITCH_TIMEOUT,16
$PITCH_AD_RATE,175
$PITCH_MAXERRORS,1
$PITCH_ADJ_GAIN,0.015
$PITCH_ADJ_DBAND,1
$ROLL_MIN,197
$ROLL_MAX,3786
$ROLL_DEG,40
$C_ROLL_DIVE,1800
$C_ROLL_CLIMB,1750
$HEAD_ERRBAND,10
$ROLL_CNV,0.028270001
$ROLL_TIMEOUT,15
$R_PORT_OVSHOOT,40
$R_STBD_OVSHOOT,37
$ROLL_AD_RATE,350
$ROLL_MAXERRORS,1
$ROLL_ADJ_GAIN,0
$ROLL_ADJ_DBAND,0
$VBD_MIN,455
$VBD_MAX,3960
$C_VBD,3072
$VBD_DBAND,2
$VBD_CNV,-0.24529999
$VBD_TIMEOUT,540
$PITCH_VBD_SHIFT,0.0012300001
$VBD_PUMP_AD_RATE_SURFACE,4
$VBD_PUMP_AD_RATE_APOGEE,4
$VBD_BLEED_AD_RATE,8
$UNCOM_BLEED,20
$VBD_MAXERRORS,1
$CF8_MAXERRORS,0
$AH0_24V,150
$AH0_10V,110
$MINV_24V,19
$MINV_10V,8
$FG_AHR_10V,9
$FG_AHR_24V,22
$PHONE_SUPPLY,2
$PRESSURE_YINT,-27.567585
$PRESSURE_SLOPE,0.0001160501
$AD7714Ch0Gain,128
$TCM_PITCH_OFFSET,0
$TCM_ROLL_OFFSET,0
$COMPASS_USE,0
$ALTIM_BOTTOM_PING_RANGE,0
$ALTIM_TOP_PING_RANGE,0
$ALTIM_BOTTOM_TURN_MARGIN,0
$ALTIM_TOP_TURN_MARGIN,0
$ALTIM_TOP_MIN_OBSTACLE,0
$ALTIM_PING_DEPTH,0
$ALTIM_PING_DELTA,5
$ALTIM_FREQUENCY,13
$ALTIM_PULSE,3
$ALTIM_SENSITIVITY,2
$XPDR_VALID,3
$XPDR_INHIBIT,90
$INT_PRESSURE_SLOPE,0.0097660003
$INT_PRESSURE_YINT,2.7
$DEEPGLIDER,0
$DEEPGLIDERMB,0
$MOTHERBOARD,4
$DEVICE1,2
$DEVICE2,53
$DEVICE3,35
$DEVICE4,-1
$DEVICE5,-1
$DEVICE6,-1
$LOGGERS,0
$LOGGERDEVICE1,-1
$LOGGERDEVICE2,-1
$LOGGERDEVICE3,-1
$LOGGERDEVICE4,-1
$COMPASS_DEVICE,33
$COMPASS2_DEVICE,-1
$PHONE_DEVICE,48
$GPS_DEVICE,32
$RAFOS_DEVICE,-1
$XPDR_DEVICE,24
$SIM_W,0
$SIM_PITCH,0
$SEABIRD_T_G,0.0043148831
$SEABIRD_T_H,0.00063078973
$SEABIRD_T_I,2.2916694e-05
$SEABIRD_T_J,2.2962076e-06
$SEABIRD_C_G,-9.9893045
$SEABIRD_C_H,1.1222894
$SEABIRD_C_I,-0.0015891744
$SEABIRD_C_J,0.00020161238
$GPS1,061010,035236,2332.192,12629.508,35,1.2,35,-3.5
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.48
$_SM_ANGLEo,-66.6
$GPS2,061010,035813,2332.181,12629.553,12,1.1,17,-3.5
$SPEED_LIMITS,0.241,0.344
$TGT_NAME,WAKE_N
$TGT_LATLONG,2400.000,12630.000
$TGT_RADIUS,2000.000
$KALMAN_CONTROL,0.000,0.000
$KALMAN_X,0.0,0.0,0.0,0.0,0.0
$KALMAN_Y,0.0,0.0,0.0,0.0,0.0
$MHEAD_RNG_PITCHd_Wd,344.1,51527,-19.7,-13.889
$D_GRID,1000
$GCHEAD,st_secs,pitch_ctl,vbd_ctl,depth,ob_vertv,data_pts,end_secs,pitch_secs,roll_secs,vbd_secs,vbd_i,gcphase,pitch_i,roll_i,pitch_ad,roll_ad,vbd_ad,pitch_retries,pitch_errors,roll_retries,roll_errors,vbd_retries,vbd_errors
$STATE,12,end surface,CONTROL_FINISHED_OK
$STATE,13,begin dive
$GC,15,-1.16,-214.1,0.0,0.0,0,113,0.00,0.00,-94.97,0.000,2,0.000,0.000,144,1761,3413,0,0,0,0,0,0
$GC,116,-1.16,-214.1,6.2,-13.0,13,140,8.85,2.28,-9.48,0.000,4,0.228,0.057,2447,3220,3948,0,0,0,0,0,0
$GC,200,-0.83,-214.1,53.4,-49.9,27,210,0.40,2.17,0.00,0.000,6,0.171,0.034,2566,1786,3951,0,0,0,0,0,0
$GC,527,-0.70,-214.1,156.8,-25.8,88,535,0.17,2.12,0.00,0.000,4,0.174,0.044,2615,405,3955,0,0,0,0,0,0
$GC,586,-0.68,-214.1,170.6,-19.5,98,594,0.00,2.12,0.00,0.000,6,0.000,0.039,2613,1797,3955,0,0,0,0,0,0
$GC,920,-0.65,-214.1,233.2,-18.5,159,927,0.00,2.12,0.00,0.000,4,0.000,0.053,2613,3210,3956,0,0,0,0,0,0
$GC,951,-0.65,-214.1,239.0,-18.2,164,958,0.00,2.12,0.00,0.000,6,0.000,0.036,2613,1802,3956,0,0,0,0,0,0
$GC,1285,-0.65,-214.1,294.6,-15.3,225,1292,0.00,0.00,0.00,0.000,6,0.000,0.000,2613,1802,3956,0,0,0,0,0,0
$GC,1619,-0.68,-214.1,343.3,-14.3,259,1621,0.00,0.00,0.00,0.000,6,0.000,0.000,2613,1802,3956,0,0,0,0,0,0
$GC,1940,-0.72,-214.1,387.6,-13.4,289,1944,0.00,2.15,0.00,0.000,4,0.000,0.054,2613,3206,3955,0,0,0,0,0,0
$GC,1982,-0.81,-214.1,392.9,-11.8,292,1986,0.00,2.08,0.00,0.000,6,0.000,0.035,2613,1793,3955,0,0,0,0,0,0
$GC,2308,-0.86,-214.1,437.3,-13.2,322,2313,0.15,2.12,0.00,0.000,4,0.080,0.047,2539,390,3953,0,0,0,0,0,0
$GC,2396,-0.80,-214.1,453.8,-19.6,329,2403,0.15,2.12,0.00,0.000,6,0.168,0.041,2577,1801,3953,0,0,0,0,0,0
$STATE,2698,end dive,TARGET_DEPTH_EXCEEDED
$STATE,2698,begin apogee
$GC,2705,-0.23,0.0,500.5,15.3,358,2881,0.52,0.00,167.88,0.965,6,0.124,0.000,2757,1743,3071,0,0,0,0,0,0
$STATE,2882,end apogee,CONTROL_FINISHED_OK
$STATE,2882,begin climb
$GC,2885,1.16,214.1,507.9,0.0,373,3067,1.25,0.00,171.90,0.935,6,0.066,0.000,3215,1743,2198,0,0,0,0,0,0
$GC,3387,0.87,214.1,389.1,28.5,420,3391,0.32,2.15,0.00,0.000,4,0.197,0.047,3133,342,2192,0,0,0,0,0,0
$GC,3449,0.68,214.1,371.9,24.0,425,3454,0.22,2.15,0.00,0.000,6,0.177,0.039,3065,1755,2192,0,0,0,0,0,0
$GC,3776,0.58,214.1,316.9,17.1,455,3780,0.12,2.12,0.00,0.000,4,0.184,0.048,3020,3164,2189,0,0,0,0,0,0
$GC,3859,0.56,221.4,304.9,13.6,462,3872,0.00,2.10,5.72,0.649,6,0.000,0.037,3027,1742,2169,0,0,0,0,0,0
$GC,4196,0.56,250.7,260.9,12.6,520,4231,0.00,2.22,25.67,0.806,4,0.000,0.044,3019,3162,2048,0,0,0,0,0,0
$GC,4278,0.56,251.5,250.0,13.9,533,4285,0.00,2.12,0.00,0.000,6,0.000,0.035,3026,1751,2047,0,0,0,0,0,0
$GC,4608,0.56,251.5,204.6,14.1,594,4616,0.00,2.15,0.00,0.000,4,0.000,0.046,3037,346,2045,0,0,0,0,0,0
$GC,4712,0.56,251.5,189.1,14.0,612,4720,0.00,2.15,0.00,0.000,6,0.000,0.034,3037,1767,2044,0,0,0,0,0,0
$GC,5042,0.58,278.8,146.4,12.7,673,5073,0.00,2.10,23.20,0.715,4,0.000,0.042,3037,3163,1935,0,0,0,0,0,0
$GC,5097,0.59,288.9,139.1,13.5,681,5113,0.00,2.15,9.62,0.635,6,0.000,0.035,3045,1745,1894,0,0,0,0,0,0
$GC,5433,0.64,332.4,91.9,12.0,743,5477,0.00,0.00,36.45,0.678,6,0.000,0.000,3045,1746,1716,0,0,0,0,0,0
$GC,5798,0.90,490.5,58.5,7.0,809,5940,0.22,2.25,127.25,0.638,4,0.056,0.043,3176,355,1070,0,0,0,0,0,0
$GC,6021,0.85,490.5,7.6,23.9,843,6030,0.15,2.15,0.00,0.000,6,0.133,0.031,3118,1751,1068,0,0,0,0,0,0
$STATE,6041,end climb,SURFACE_DEPTH_REACHED
$STATE,6041,begin surface coast
$FINISH,0.9,1.021919
$STATE,6054,end surface coast,CONTROL_FINISHED_OK
$STATE,6054,begin surface
$SM_CCo,6132,0.00,0.000,0,0,1065,492.07
$SM_GC,1.52,7.62,0.00,0.00,0.030,0.000,0.000,151,1755,1065,-8.34,-1.27,492.07
$IRIDIUM_FIX,2319.18,12628.24,061010,020252
$TT8_MAMPS,0.026964
$HUMID,41.33
$INTERNAL_PRESSURE,8.77445
$TCM_TEMP,24.50
$XPDR_PINGS,66
$24V_AH,24.4,31.202
$10V_AH,10.4,19.969
$FG_AHR_24Vo,22.000
$FG_AHR_10Vo,9.000
$DEVICES,Pitch_motor,Roll_motor,VBD_pump_during_apogee,VBD_pump_during_surface,VBD_valve,Iridium_during_init,Iridium_during_connect,Iridium_during_xfer,Transponder_ping,GUMSTIX_24V,GPS,TT8,LPSleep,TT8_Active,TT8_Sampling,TT8_CF8,TT8_Kalman,Analog_circuits,GPS_charging,Compass,RAFOS,Transponder,Compass2
$DEVICE_SECS,20.175,47.325,567.700,0.000,0.000,30.264,18.390,147.441,16.500,0.000,17.905,1948.139,1532.886,545.751,2192.597,248.337,0.000,1366.201,0.000,2000.815,0.000,0.848,0.000
$DEVICE_MAMPS,227.970,113.220,964.665,0.000,0.000,0.000,0.000,0.000,420.000,0.000,0.000,19.800,2.190,19.800,39.800,45.800,0.000,12.000,0.000,15.000,0.000,5.000,0.000
$SENSORS,SBE_CT,AA3830,WL_BB2F,nil,nil,nil,nil,nil,nil,nil
$SENSOR_SECS,570.334,866.680,1412.782,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,33.000,105.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$MEM,333908
$DATA_FILE_SIZE,50301,848
$CAP_FILE_SIZE,83922,0
$CFSIZE,260165632,170508288
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$CURRENT,0.126,155.1,1
$GPS,061010,054158,2332.837,12629.392,14,99.0,33,-3.5